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<div class="title">distances.h</div>  </div>
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<a href="common_2include_2pcl_2common_2distances_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_DISTANCES_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_DISTANCES_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="group__common.html#ga4ee346a92c01c042ffae2907ae5c93c5">   59</a></span>&#160;  <a class="code" href="group__common.html#ga4ee346a92c01c042ffae2907ae5c93c5">lineToLineSegment</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;line_a, <span class="keyword">const</span> Eigen::VectorXf &amp;line_b, </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                     Eigen::Vector4f &amp;pt1_seg, Eigen::Vector4f &amp;pt2_seg);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">double</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">   69</a></span>&#160;  <a class="code" href="group__common.html#ga3d6aa7accd68832e8a4d4707c358e40f">sqrPointToLineDistance</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;pt, <span class="keyword">const</span> Eigen::Vector4f &amp;line_pt, <span class="keyword">const</span> Eigen::Vector4f &amp;line_dir)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// Calculate the distance from the point to the line</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">double</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="group__common.html#ga3d6aa7accd68832e8a4d4707c358e40f">   85</a></span>&#160;  <a class="code" href="group__common.html#ga3d6aa7accd68832e8a4d4707c358e40f">sqrPointToLineDistance</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;pt, <span class="keyword">const</span> Eigen::Vector4f &amp;line_pt, <span class="keyword">const</span> Eigen::Vector4f &amp;line_dir, <span class="keyword">const</span> <span class="keywordtype">double</span> sqr_length)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// Calculate the distance from the point to the line</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="group__common.html#ga30ceb9b4896578ed075a36ad3937ee26">  100</a></span>&#160;  <a class="code" href="group__common.html#ga1794862c1f52bfb188d6a4b48a2a5f4b">getMaxSegment</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                 <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pmin, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pmax)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">double</span> max_dist = std::numeric_limits&lt;double&gt;::min ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">int</span> i_min = -1, i_max = -1;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = i; j &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++j)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="comment">// Compute the distance </span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">double</span> dist = (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector4fMap () - </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                       cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j].getVector4fMap ()).squaredNorm ();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">if</span> (dist &lt;= max_dist)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        i_min = i;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        i_max = j;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (i_min == -1 || i_max == -1)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">return</span> (max_dist = std::numeric_limits&lt;double&gt;::min ());</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    pmin = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i_min];</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    pmax = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i_max];</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">return</span> (std::sqrt (max_dist));</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="group__common.html#ga1794862c1f52bfb188d6a4b48a2a5f4b">  139</a></span>&#160;  <a class="code" href="group__common.html#ga1794862c1f52bfb188d6a4b48a2a5f4b">getMaxSegment</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                 <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pmin, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pmax)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordtype">double</span> max_dist = std::numeric_limits&lt;double&gt;::min ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">int</span> i_min = -1, i_max = -1;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = i; j &lt; indices.size (); ++j)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="comment">// Compute the distance </span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">double</span> dist = (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]].getVector4fMap () - </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                       cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[j]].getVector4fMap ()).squaredNorm ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">if</span> (dist &lt;= max_dist)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        max_dist = dist;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        i_min = i;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        i_max = j;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">if</span> (i_min == -1 || i_max == -1)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordflow">return</span> (max_dist = std::numeric_limits&lt;double&gt;::min ());</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    pmin = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i_min]];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    pmax = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i_max]];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">return</span> (std::sqrt (max_dist));</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type1, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type2&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">  174</a></span>&#160;  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (<span class="keyword">const</span> PointType1&amp; p1, <span class="keyword">const</span> PointType2&amp; p2)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">float</span> diff_x = p2.x - p1.x, diff_y = p2.y - p1.y, diff_z = p2.z - p1.z;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordflow">return</span> (diff_x*diff_x + diff_y*diff_y + diff_z*diff_z);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keyword">template</span>&lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2distances_8h.html#acce728864fe6aa3af8783cb0a963a4b1">  185</a></span>&#160;  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">PointXY</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">PointXY</a>&amp; p2)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">float</span> diff_x = p2.x - p1.x, diff_y = p2.y - p1.y;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">return</span> (diff_x*diff_x + diff_y*diff_y);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type1, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Type2&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">  196</a></span>&#160;  <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">euclideanDistance</a> (<span class="keyword">const</span> PointType1&amp; p1, <span class="keyword">const</span> PointType2&amp; p2)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">return</span> (std::sqrt (<a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a> (p1, p2)));</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">/*@*/</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_DISTANCES_H_</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a28ecc173df18d9175dee9f4dd042390b"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">pcl::squaredEuclideanDistance</a></div><div class="ttdeci">float squaredEuclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the squared euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:174</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a73e1d23717813eb053a0eb51411a4a23"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a73e1d23717813eb053a0eb51411a4a23">pcl::euclideanDistance</a></div><div class="ttdeci">float euclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:196</div></div>
<div class="ttc" id="agroup__common_html_ga1794862c1f52bfb188d6a4b48a2a5f4b"><div class="ttname"><a href="group__common.html#ga1794862c1f52bfb188d6a4b48a2a5f4b">pcl::getMaxSegment</a></div><div class="ttdeci">double getMaxSegment(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, PointT &amp;pmin, PointT &amp;pmax)</div><div class="ttdoc">Obtain the maximum segment in a given set of points, and return the minimum and maximum points.</div><div class="ttdef"><b>Definition:</b> distances.h:139</div></div>
<div class="ttc" id="agroup__common_html_ga3d6aa7accd68832e8a4d4707c358e40f"><div class="ttname"><a href="group__common.html#ga3d6aa7accd68832e8a4d4707c358e40f">pcl::sqrPointToLineDistance</a></div><div class="ttdeci">double sqrPointToLineDistance(const Eigen::Vector4f &amp;pt, const Eigen::Vector4f &amp;line_pt, const Eigen::Vector4f &amp;line_dir, const double sqr_length)</div><div class="ttdoc">Get the square distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> distances.h:85</div></div>
<div class="ttc" id="agroup__common_html_ga4ee346a92c01c042ffae2907ae5c93c5"><div class="ttname"><a href="group__common.html#ga4ee346a92c01c042ffae2907ae5c93c5">pcl::lineToLineSegment</a></div><div class="ttdeci">PCL_EXPORTS void lineToLineSegment(const Eigen::VectorXf &amp;line_a, const Eigen::VectorXf &amp;line_b, Eigen::Vector4f &amp;pt1_seg, Eigen::Vector4f &amp;pt2_seg)</div><div class="ttdoc">Get the shortest 3D segment between two 3D lines</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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